Integrated imaging and rfid system for virtual 3d scene construction

ABSTRACT

Information is collected by acquiring imaging data of a plurality of objects using an imaging tool; creating a three-dimensional representation of the plurality of objects based on the imaging data; and extracting RFID data stored in an RFID tag using an RFID reader. The RFID tag has a reference to a three-dimensional model. The three-dimensional model is created before acquiring the imaging data of the plurality of objects. And the three-dimensional model is a representation of at least one object of the plurality of objects.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a divisional of U.S. patent application Ser. No.14/171,100, filed Mar. 3, 2014, entitled “INTEGRATED IMAGING AND RFIDSYSTEM FOR VIRTUAL 3D SCENE CONSTRUCTION,” which application is acontinuation of U.S. patent application Ser. No. 13/410,084, filed Mar.1, 2012, entitled “METHOD AND SYSTEM FOR RFID-ASSISTED IMAGING,” nowU.S. Pat. No. 8,668,136, issued on Mar. 11, 2014, the disclosures ofwhich are hereby incorporated by reference in their entirety for allpurposes.

BACKGROUND OF THE INVENTION

Three-dimensional and two-dimensional imaging tools, such as laserscanners and cameras, measure in an automatic way a large number ofpoints on the surface of an object, and often output a point cloud as adata file. Such imaging tools are useful for capturing visualinformation of an environment or a facility, and are widely used inconstruction industry, civil engineering, and asset management, amongother applications. For some applications, such as asset management, itis often desirable to integrate asset information with visualinformation. For example, an operator viewing a scanned image of a plantmay want to view the asset information related to a particular assetappearing in the scanned image. The asset information may include, forexample, manufacturer's name, model number, specifications,computer-added design (CAD) model, maintenance history, and the like.Conversely, an operator viewing a list of assets may want to see where aparticular asset is located in the plant from the scanned image. Forsome other applications, it may be desirable to create CAD models of theobjects captured by an imaging tool. There is currently a lack ofefficient ways of linking asset information with visual information.

Thus, there is a need in the art for a method and system forautomatically or semi-automatically identifying objects from imagesacquired by an imaging tool and associating asset information about theidentified objects with the images.

SUMMARY OF THE INVENTION

The present invention relates generally to a method and system forRFID-assisted imaging. More particularly, embodiments of the presentinvention relate to acquiring imaging data of an object using an imagingtool and detecting an RFID tag associated with the object using an RFIDreader. RFID data extracted from the RFID tag is associated with theimaging data and stored as metadata along with the imaging data. Theinvention has wider applicability than this example and otherapplications are included within the scope of the present invention.

According to an embodiment of the present invention, a method isprovided. The method includes acquiring imaging data of a scene using animaging tool and extracting radio frequency identification (RFID) datastored in an RFID tag associated with the scene. The method alsoincludes associating the RFID data with the imaging data.

According to another embodiment of the present invention, a system isprovided. The system includes an imaging tool operable to acquireimaging data of a scene an RFID reader operable to extract RFID datastored in an RFID tag associated with the scene.

According to a specific embodiment of the present invention, a method ofcollecting information is provided. The method includes acquiringimaging data of a plurality of objects using an imaging tool and for atleast one object of the plurality of objects: extracting RFID datastored in an RFID tag; creating an image representation of a sceneincluding the at least one object from the imaging data; and associatingthe RFID data with the image representation.

According to another specific embodiment of the present invention, amethod of constructing a 3D point cloud is provided. The method includesobtaining a first image including at least a scene from a firstperspective. The first image includes an optical marker. The method alsoincludes receiving RFID data from an RFID tag associated with theoptical marker and identifying a physical location associated with theoptical marker using the RFID data. The method further includesobtaining a second image including at least the scene from a secondperspective. The second image includes the optical marker. Additionally,the method includes constructing the 3D point cloud using the firstimage and the second image.

Numerous benefits are achieved by way of the present invention overconventional techniques. For example, embodiments of the presentinvention provide methods and systems for automatic identification ofassets included in an image, for example, equipment in a plant.Utilizing the data rich environment made possible using RFID tags, pointclouds generated using imaging systems can be augmented to include datarelated to the various objects present in an environment. Additionally,embodiments of the present invention provide systems that reduce oreliminate errors during data transfer since a reduction in the amount ofoperator inputs utilized results in a reduction or elimination ofmistakes. In other embodiments, a display system is provided in which noor a limited amount of text is superimposed over an image, resulting inlimited or no obscuring of the image. Moreover, in some embodiments,relevant information is stored in an image or EXIF file, reducing theneed for separate documentation and reducing the likelihood of the lossof important information.

Embodiments of the present invention provide for a significant increasein the amount of information that can be stored through the use of RFIDtags, thereby providing many details about the image subject, forexample, many more details than could be appended to the image bywriting on the image. Additionally, an embodiment of the presentinvention may be applied with great utility for First Responders interms of aiding them with information about a particular location orbuilding. As an example, a library of aerial or street view images,localized to a predetermined distance range may be constructed, forinstance, by city block, may be configured with RFID tags indicatingownership of the structures, type of building permits for building use,and the like. Information normally stored in city records may betransferred to a building tag describing special building contents,including, for example, hazardous material notices. Furthermore, datastored on RFID tags may be encrypted to prevent detection/decoding byunauthorized personnel. It should be noted that the data creationfunction used to create a suitable RFID tag is independent of the imagecapture methods or systems. Thus, RFID data can be added to any image atany time, contemporaneously or subsequently, during the creation ofeither the RFID tag or during an image capture process.

Moreover, some embodiments allow the faster post-processing of acquiredimages, allow for the extraction of meaningful data from point clouds,allow for the extraction of relevant object data in the field, allow forclosed-loop data acquisition, allow for efficient parsing of large imagedatabases, allow for targeted image acquisition over the lifetime of anobject, and the like. These and other embodiments of the invention alongwith many of its advantages and features are described in more detail inconjunction with the text below and attached figures.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a simplified block diagram of an RFID-assisted imaging systemaccording to an embodiment of the invention;

FIGS. 2A-2B are simplified schematic diagrams illustrating use of anRFID-assisted imaging system according to embodiments of the invention;

FIG. 3 is a simplified graphical user interface illustrating display ofa visual representation of imaging data along with asset informationaccording to an embodiment of the present invention;

FIG. 4 is a simplified flowchart illustrating a method of RFID-assistedimaging according to an embodiment of the invention;

FIG. 5 is a simplified flowchart illustrating a method of collectinginformation according to an embodiment of the invention;

FIG. 6 is a simplified flowchart illustrating a method of managing RFIDand imaging data according to an embodiment of the present invention;and

FIG. 7 is a simplified flowchart illustrating a method of collectinginformation according to another embodiment of the invention.

DETAILED DESCRIPTION OF SPECIFIC EMBODIMENTS

Embodiments of the present invention relate to methods and systems forRFID-assisted imaging. More particularly, embodiments of the presentinvention relate to acquiring imaging data of an object using an imagingtool and detecting an RFID tag associated with the object using an RFIDreader. RFID data extracted from the RFID tag is associated with theimaging data and stored as metadata along with the imaging data. Merelyby way of example, the invention has been applied to forming anintelligent 3D model of a facility using imaging and RFID data.

FIG. 1 is a simplified block diagram of RFID-assisted imaging system 100that includes imaging tool 160 and RFID tag reader 150 according to oneor more embodiments of the invention. The imaging tool 160 can be acamera, a stereoscopic camera, a laser scanner, a photogrammetricsystem, a 3-D scanner, an optical total station, a consumer-gradecamera, a mobile spatial camera, such as is used for mobile data capturein outdoor and indoor scenes, or the like. Data collected by the imagingtool can be provided to processor 110 for image processing, storage inmemory 130, or the like. In some embodiments, the imaging tool is avideo camera, a still camera, a thermal camera, or the like. The imagedata or processed versions of the image data can be displayed on display130, for example, an LCD screen or other suitable display that can beintegrated with the RFID-assisted imaging system 100. Using the imagingtool 160, a 3D model (which can be referred to as a point cloud) can begenerated for use by the system. It should be noted that embodiments ofthe present invention are not limited to the use of 3D models or pointclouds, but are applicable to a wide range of image representations. Asan example, a digital image captured using a camera may be suitable foruse in a number of application areas since it includes digital data.

RFID tag reader 150 is configured to detect an RFID tag (not shown)associated with an object being imaged by the imaging tool 160. RFID tagreader 150 is further configured to extract RFID data stored in the RFIDtag. According to some embodiments, each of imaging tool 160 and RFIDtag reader 150 is coupled to processor 110. Processor 110 is configuredto receive RFID data and imaging data from RFID tag reader 150 andimaging tool 160, respectively. Processor 110 is further configured toassociate RFID data with imaging data. Processor 110 can output imagingdata and RFID data using an I/O interface 120. The I-O interface 120enables a user or a remote system to interact with the RFID-assistedimaging system 100, for example, providing control inputs, receivingimage and/or RFID data from the system, controlling the operation of theimaging tool, providing data that is stored in RFID tags, or the like.One of ordinary skill in the art would recognize many variations,modifications, and alternatives.

As described throughout the present specification, RFID tags are placedon assets or associated with assets that are present in a 3D pointcloud. Using the data provided by the RFID tags, the assets in the 3Dpoint cloud can be automatically or semi-automatically identified,catalogued, and converted into elements in a 3D CAD model. In someembodiments, the RFID tags are not mounted on the asset, but associatedwith the asset, for example, by utilizing an optical marker mounted onthe asset that is associated with an RFID tag including informationrelated to the asset. Additional detail regarding these methods andsystems is provided herein.

According to embodiments of the present invention, the processor 110 canbe any type of processor such as a microprocessor, field programmablegate array (FPGA) and/or application specific integrated circuit (ASIC).In other embodiments, the processor 110 represents a central processingunit of any type of architecture, such as a CISC (Complex InstructionSet Computing), RISC (Reduced Instruction Set Computing), VLIW (VeryLong Instruction Word), or a hybrid architecture, although anyappropriate processor may be used. The processor 110 executesinstructions and includes that portion of the RFID-assisted imagingsystem 100 that controls the operation of the entire system. Althoughnot depicted in FIG. 1, the processor 110 typically includes a controlunit that organizes data and program storage in memory and transfersdata and other information between the various parts of the system. Theprocessor 110 is operable to receive input data from the various systemcomponents, read and stores code and data in memory 140, and presentdata to and receive data from the I/O interface 120.

Imaging data, RFID data, and composite data generated from these andother sources can be stored in memory 140. Data received and/orprocessed by the processor 110 can be stored by memory 140, whichrepresents one or more mechanisms for storing data. The memory 140 mayinclude read-only memory (ROM), random access memory (RAM), magneticdisk storage media, optical storage media, flash memory devices, and/orother machine-readable media. In other embodiments, any appropriate typeof storage device may be used. Although only one memory 140 is shown,multiple storage devices and multiple types of storage devices may bepresent. In some embodiments, one or more metadata tags are stored inassociation with the imaging data (e.g., in an image data file includingimaging data from a scene). The metadata tag specifies a particular RFIDtag file and given the image data file, the RFID tag data is extracted.In an alternative embodiment, a metadata tag could be stored in RFIDdata with a reference to a particular image data file. Thus, the RFIDdata can be associated with the imaging data and is, therefore,retrievable via the association with the imaging data. Alternatively,the RFID data can includes a metadata tag associated with the imagingdata and image data can be retrieved using the metadata tag. One ofordinary skill in the art would recognize many variations,modifications, and alternatives.

The memory 140 includes a controller (not shown in FIG. 1) and dataitems. The controller includes instructions capable of being executed onthe processor 110 to carry out the methods described more fullythroughout the present specification. In another embodiment, some or allof the functions are carried out via hardware in lieu of aprocessor-based system. In one embodiment, the controller is a webbrowser, but in other embodiments the controller may be a databasesystem, a file system, an electronic mail system, a media manager, animage manager, or may include any other functions capable of accessingdata items. Of course, the memory 140 may also contain additionalsoftware and data (not shown), which is not necessary to understand theinvention. Data received and processed by the processor can be displayedusing input/output interface 130, which may include a user interface forreceiving and displaying data, images, and the like. Additionally, itwill be appreciated that imaging data and RFID data may be presented toa user through display 130.

When implemented in software, the elements of the invention areessentially the code segments to perform the necessary tasks. Theprogram or code segments can be stored in a non-transitoryprocessor-readable medium. The processor-readable medium, also referredto as a computer-readable medium may include any medium that can storeor transfer information. Examples of the processor readable mediuminclude an electronic circuit, a semiconductor memory device, a ROM, aflash memory or other non-volatile memory, a floppy diskette, a CD-ROM,an optical disk, a hard disk, etc. The code segments may be downloadedvia computer networks such as the Internet, Intranet, etc.

FIGS. 2A-2B are simplified schematic diagrams illustrating use of anRFID-assisted imaging system according to embodiments of the invention.As illustrated in these figures, graphical representations of theRFID-assisted imaging system 100 of FIG. 1 are shown according to one ormore embodiments of the invention. Referring to FIG. 2A, RFID-assistedimaging system 100 includes a co-located imaging tool and RFID tagreader, which are mounted on a tripod 215. Merely by way of example,imaging tool 160 may be configured such that it can rotate up to 360° inthe horizontal plane 205 and up to about 360° in the vertical plane 207(e.g.,) 270°, so that an entire scene surrounding the imaging tool 160may be imaged. In other embodiments, the rotation in the vertical plane207 can be a different angle as appropriate to the particularapplication. Thus, it should be appreciated that other angular rangesmay be utilized in other embodiments. According to an embodiment, theimaging tool utilized in system 100 has a first field of view 220 suchthat a first section of the scene within the first field of view 220 maybe imaged at a first time.

The RFID tag reader associated with the imaging device may or may notrotate along with the imager. In some embodiments the RFID reader usesmultiple antennas to provide electromagnetic coverage. In someembodiments, the reader antenna elements are rotating to cover specificareas of a space with electromagnetic energy. In yet other embodiments,the RFID reader uses phased array antennas to electrically control thefield over which signals are read.

In another embodiment, the system is used during the scanning process tomore efficiently acquire visual data. In a simplified version, acameraman may carry the imager through the space until the systemdetects the RFID tag associated with the object to be scanned. Thecameraman would then focus his or her activity on only the object orscene ultimately relevant.

In another embodiment, the system is used to efficiently process imagingdata associated with an object and neglect some or all other imagingdata. At the time that images of an object become relevant, be it formaintenance reasons or for reasons of processing a change order. Thedata base can be queried to produce all the images associated with aparticular RFID tag and hence a particular scene or object. This makesit much easier for an operator to parse through the limited set of data.

According to an embodiment of the invention, the imaging tool comprisesone or more cameras configured to capture two-dimensional orthree-dimensional images. According to another embodiment of theinvention, the imaging tool comprises a two-dimensional orthree-dimensional scanner. Scanners are analogous to cameras in somerespects. Like cameras, they have a cone-like field of view. A scannercollects distance information about surfaces within its field of view.The image produced by a scanner describes the distance to a surface ateach point in the image. This allows the position of each point in theimage to be identified.

According to another embodiment, the imaging tool comprises atime-of-flight laser scanner that includes a laser rangefinder. Thelaser rangefinder finds the distance of a surface by timing theround-trip time of a pulse of laser light. Typically, the laserrangefinder detects the distance of one point in its field of view atany given time. Thus, the scanner scans its entire field of view onepoint at a time by changing the rangefinder's direction of view to scandifferent points. According to embodiments of the present invention, theview direction of the laser rangefinder is changed by rotating therangefinder itself or by using a system of rotating mirrors. Accordingto another embodiment, the imaging tool comprises a triangulation laserscanner. A triangulation laser scanner may shine a laser on an objectand exploit a camera to look for the location of the laser dot.Depending on how far away the laser strikes a surface, the laser dotappears at different places in the camera's field of view. According toyet another embodiment, the imaging tool comprises a hand-held laserscanner using the triangulation mechanism described above. It may alsobe appreciated that imaging tool may comprise other types of scanners orcameras. One of ordinary skill in the art would recognize manyvariations, modifications, and alternatives.

The purpose of a three-dimensional imaging tool is usually to create apoint cloud of geometric samples on the surface of an object. A pointcloud is a set of vertices in a three-dimensional coordinate system.These vertices are usually defined by X, Y, and Z coordinates. Thesepoints can then be used to extrapolate the shape of the object. For mostsituations, a single scan is not able to produce a complete model of anobject. Multiple scans, taken from at least two different perspectives,are usually utilized to obtain information about all sides of theobject. These scans are then brought into a common reference system, aprocess that is usually called alignment or registration, and thenmerged to create a complete point cloud. The entire process, going fromindividual scans to a point cloud, is usually referred to asthree-dimensional scanning pipeline. Although some scanning systemsprovide a 3D point cloud, for example, for a facility or plant, merelypixel information is provided, not information related to the items orassets represented by the 3D point cloud. Accordingly, conversionprocesses are utilized to convert the 3D point cloud into a CAD model.In a specific implementation, a single scan is used to create a pointcloud. In another specific implementation, multiple scans are referencedand merged to create a larger point cloud of an object or project area,enabling the capture of a whole object. The point cloud can include datarelated to the intensity of the return signal, spectral (e.g., RGBand/or IR) data, or the like.

Merely by way of example, FIG. 2A depicts an example in whichRFID-assisted imaging system 100 images a building 290. Building 290 maybe constructed from structural parts, such as columns 292, beams 294,and frames 296. As an example, one or more of the structural parts maybe fabricated off-site and then bolted or welded together duringconstruction using connection plates. According to an embodiment, one ormore of the structural parts may have one or more RFID tags 230associated with the structural parts. According to an embodiment, theRFID tags are attached to their respective items by their manufacturers,vendors, and the like, and are in place when the structural parts arereceived and the building is constructed. According to an embodiment ofthe invention, the value of the RFID tags is leveraged later during thelifecycle of the building. In other embodiments, the RFID tags are addedafter construction is partially or fully completed. One of ordinaryskill in the art would recognize many variations, modifications, andalternatives.

According to embodiments of the present invention, each RFID tag may bea passive RFID tag, an active RFID tag, a battery-assisted passive RFIDtag, or combinations thereof. Each RFID tag includes an antenna forreceiving and transmitting signals. Each RFID tag further includescircuitry for storing and processing information. As shown in FIG. 2A,RFID tag 230 is depicted as including an antenna and a processor/memory.However, it may also be appreciated that RFID tag 230 can be any type ofRFID tag. The RFID tag can be embedded in a target used for aligning theimages.

According to embodiments of the invention, RFID tags may have variousstorage capacities. The following table provides exemplary values of themaximum number of characters which can be encoded by each RFID tagaccording to embodiments of the invention. While the values presentedrelate to an exemplary maximum number of characters encoded by RFID tagdata, it may be appreciated that each RFID tag may be decoded with lesscharacters.

RFID TAG CAPACITY (EXEMPLARY) Numeric 7,089 characters Alphanumeric4,296 characters Binary (8 bits) 2,953 characters Kanji, full-width Kana1,817 characters

According to an embodiment of the invention, data encoded in an RFID tagmay include only an identification number for the item. This type ofRFID tags is often referred to as license-plate RFID tags. For theselicense-plate RFID tags, the tag includes a reference number for anasset and the reference number points to an entry in a database thatprovides the desired information about the asset. For example, a pipe ina facility can be assigned a unique number that is stored in the licenseplate RFID tag. When the pipe is scanned using the RFID tag reader, theunique number can be used to find information in the database including,without limitation, manufacturing date, installation date, pipespecifications, maintenance information, modifications made to the pipe,a CAD model reference, and the like. In some implementations, the RFIDtag reader thus only obtains a reference number, which is then used inpost-processing to obtain additional information about the asset orcorrelation of the asset with the point cloud.

According to another embodiment, data encoded in an RFID tag may includehigh level information suitable for storage in an RFID tag withsubstantial memory. Such high level information may include, for exampleand without limitation, manufacturer's name, model number,specifications, CAD model information, maintenance history, and thelike. The high level information provided by the RFID tag can besupplemented with data from one or more databases, including amanufacturer's database accessible over a public or a private network.In some embodiments, the RFID tag is both readable and writable,enabling new information or updated information to be stored in the RFIDtags. In these embodiments, the RFID tag reader may also function as anRFID tag writer. One of ordinary skill in the art would recognize manyvariations, modifications, and alternatives.

According to embodiments of the present invention, the RFID tag readerincluded in the RFID-assisted imaging system 100 is configured to detectthe RFID tags associated with the objects being imaged by the imagingtool. In an embodiment, the RFID tag reader further decodes the RFIDdata stored in the detected RFID tags and transmits the RFID data to oneor more processors and/or one or more memories. According to anembodiment, the processor may use the RFID data to identify the objectsbeing imaged by imaging tool. According to another embodiment, theprocessor may associate the RFID data with the imaging data acquired bythe imaging tool. The RFID data may be stored as metadata along with theimaging data and may be queried later. In the case of license-plate RFIDtags, the processor may link the identification numbers extracted fromthe detected RFID tags with an asset database that contains assetinformation about the items. The asset information may be retrievedlater in reference to the identifications numbers. Although someimplementations are described in relation to detecting an RFID tag andthen extracting RFID data, embodiments of the present invention are notlimited to these implementations. Moreover, the function of combiningRFID data with imaging data can be performed contemporaneously, beforeimaging or extraction of RFID data, or after image capture. As anexample, embodiments of the present invention can be implemented while astructure is being built since some embodiments have access to datafiles associated with building information management (BIM) systems.Thus, the data can be added during the building process, before, during,or after an image is taken.

According to embodiments of the present invention, the RFID tag readerincludes one or more antennas for transmitting and receiving radiofrequency (RF) signals to detect RFID tags and to receive informationstored in the detected RFID tags. In some implementations, the RFIDantenna focuses radio energy from the RFID tag reader in a narrow beam.In these implementations, the RFID tags within the antenna's beam width,also referred to herein as the antenna's field of view, are detected. Anantenna's field of view is typically related to the gain of the antenna.The higher the gain, the farther the antenna can “see.” Additionally,the antenna can typically be used at larger ranges as the field of viewis narrowed. For an antenna with a gain of about 6 dB, a typical fieldof view is approximately 30°. Merely by way of example, the RFID tagreader utilized in embodiments of the present invention may have adistance range ranging from about 1 m to about 20 m, depending on thefrequency of the radio waves used and the types of RFID tags (e.g.,passive or battery-assisted). In other embodiments, the distance rageassociated with both the imaging tool and the RFID tag reader can bevaried to smaller distances or larger distances as appropriate to theparticular applications. As an example, battery-enhanced RFID tags canbe read at distances up to and exceeding 60 m. In industrialenvironment, the majority of assets are within a distance of 20 m,providing a large number of facilities for which embodiments of thepresent invention are suitable for use. Thus, a variety of suitable RFIDtags can be utilized depending on the particular application.

According to an embodiment, the RFID tag reader utilizes an antenna witha field of view that substantially coincides with the field of view ofthe imaging tool, so that unique association of image data with RFIDdata can be made. According to embodiments of the present invention, thefield of view of the RFID antenna may be adjusted dynamically orstatically to enable such unique association between the image and theRFID tag data acquired. According to an embodiment, the antenna isconfigured such that it can be rotated in a synchronized manner with theimaging tool so that the RFID tag reader detects RFID tags in thecurrent field of view of the imaging tool.

According to another embodiment, the RFID tag reader includes multipleantennas, with each antenna fixed so that it has a respective field ofview. As the imaging tool scans a scene, various antennas are turned onone at a time according to the current field of view of the imaging toolin these implementations. According to yet another embodiment, the RFIDtag reader includes multiple antennas, with each antenna having arespective vertical field of view that is fixed with respect to thevertical plane 207. The various antennas are turned on one at a time,and the entire antenna assembly is rotated in the horizontal plane 205in a synchronized manner with the imaging tool, such that the RFID tagreader detects RFID tags in the current field of view of the imagingtool. In other embodiments, hardware/software is used to activateantennas that have a field of view that is aligned with thedirectionality of the imaging tool. It should be appreciated that othertypes of antenna configurations may be contemplated and the presentinvention is not limited to one of the particular configurationsdiscussed herein. One of ordinary skill in the art will recognize manyvariations, modifications, and alternatives.

Referring now to FIG. 2B, RFID-assisted imaging system 100 of FIG. 1 isshown as a hand-held device 101 according to another embodiment of theinvention. Here, the imaging tool and the RFID tag reader are co-locatedand housed in the hand-held device 101. In other embodiments, thehand-held device includes only the RFID reader and the imaging tool isprovided separately. In this embodiment, the RFID tag reader can be usedto detect an RFID tag in close proximity to the hand-held device 101. Anoperator may carry the hand-held device 101 and walk around a facilityto scan the various RFID tags in the facility, providing this RFIDinformation to central processor 210, which can then associate the RFIDdata with the image data, for example, in an algorithm performing theconstruction of the 3D point cloud. Thus, the hand-held device 101 cantransmit imaging data and/or RFID data to a central processor 210 fordata collection and processing over communications link 212.Communications link 212 may be a wired or wireless data link asappropriate to the particular implementation. Data collected by thehand-held device 101 can be stored locally, transmitted to the centralprocessor 210, or a combination of these techniques can be utilized. Insome embodiments, the hand-held device includes an interface thatenables the operator to be provided with prompts to scan predetermineditems, which can be graphically displayed, shown in an list, or thelike. Thus, some implementations utilize an integrated imaging tool andRFID scanner and other embodiments separate these elements to provideindependent sources of imaging and RFID data, which can then be mergedin a post-processing environment. Additionally, systems described hereinprovide for both concurrent collection of imaging and RFID data as wellas sequential collection of this data, with either imaging or RFID datacollected first. It should be noted that post-processing can also beutilized as part of the processing function for an integrated system.

According to embodiments of the invention, the RFID-assisted imagingsystem 100 illustrated in FIG. 1 may be used in applications such asasset management for plants and facilities, including oil refineries,petrochemical plants, chemical plants, offshore rigs and platforms,land-based rig fields and production facilities, gas plants,manufacturing plants, power plants (including nuclear power plants,steam power plants, etc.), utility facilities, and the like.RFID-assisted imaging system 100 of FIG. 1 may also be used in otherapplications, such as inventory tracking, products tracking, buildinginspection and maintenance, as-built building information modeling (BIM)systems, tank inspection, public security (e.g., in airports, trainstations, etc.), safety assurance in transportation devices (e.g.,airplanes, fire trucks, ambulances, buses, etc.), and the like. Itshould be appreciated that the present invention is not limited to theseparticular applications. One of ordinary skill in the art wouldrecognize many variations, modifications, and alternatives.

In another embodiment, the combination of imaging and RFID data is usedto determine the as-built model of a facility previously constructed. Ina typical construction scenario, the building is being put togetherbased on BIM CAD models. Due to construction imperfection, mistakes, andmaterial tolerances, the final building rarely exactly matches the CADmodel. Using the imaging information along with the RFID Object data,the CAD models can be updated to reflect the building as it was actuallybuilt (“As-built model”).

According to embodiments of the invention, the RFID-assisted imagingsystem 100 of FIG. 1 may be incorporated in mobile computing devices,including intrinsically safe RFID-enabled tablet personal computers,hand-held terminals, and the like. Such mobile computing devices may beused by facility owners, facility operators, service providers, and thelike, while they are out in the field or in a facility. Moreover, theRFID-assisted imaging system 100 of FIG. 1 may be used in conjunctionwith other RFID-enabled solutions, such as RFID/GPS-enabled peopletracking solutions.

In another embodiment, the RFID tags may also include locationinformation in reference to the location of the RFID tag. For example,the RFID tag may be located in a very visible location, containinginformation about an object that is not visible, or only partiallyvisible. In that scenario, the RFID tag may contain data that explainswhere the object is located in reference to the RFID tag.

In another embodiment, the RFID tag may also contain human readable ormachine readable information. For example the RFID tag may contain abarcode that points to the same information as the number stored in theelectronics of the RFID tag. As another example, the RFID tag may havethe asset ID or any other information written on the tag for reference.

In another embodiment, the RFID tag also serves as an optical marker forthe imaging system. Complex imaging systems, such as 3D systems, in manyapplications relay on optical reference points to overlay differentimages of the same location. The RFID tag can be designed to providesuch optical reference information. The RFID tag can also contain uniquenumbering information in order to uniquely identify a reference point.Such information can be used even if a long time passes between scans.It is furthermore possible to repeat the ID information by means of abarcode on the tag so that the optical information can match the opticalID with the electronic ID of the tag and hence associate all theadditional information stored on the tag or in the database.

According to embodiments, elements of the invention may be implementedin software as code segments to perform the necessary tasks of linkingRFID data with imaging data. The program or code segments can be storedin a non-transitory processor-readable medium. Such software may be usedby facility owners, facility operators, service providers, and the like,for asset management, facility inspection and maintenance, and so on. Itshould be appreciated that the present invention is not limited to theseparticular applications. One of ordinary skill in the art wouldrecognize many variations, modifications, and alternatives.

Merely by way of example, FIG. 2B depicts a set up where anRFID-assisted imaging system 100 as illustrated in FIG. 1 (i.e.,hand-held device 101) collects data related to a steam power plant 270.Steam power plant 270 may include assets such as steam tank 272, turbineengine 273, generator 274, water tank 275, cooling tower 276, andvarious pipes 281-287. Each asset may have an associated RFID tag 230.As shown in FIG. 2B, RFID tag 230 is depicted as including an antennaand a processor/memory. However, it may also be appreciated that RFIDtag 230 can be any type of RFID tag. The RFID tag may store informationabout the asset, such as manufacturer's name, model number,specifications, three-dimensional CAD model, and the like. According toan embodiment, the RFID tags are attached to their respective items bytheir manufacturers, vendors, and the like, and are already in placewhen the plant was initially built. According to an embodiment of theinvention, the value of the RFID tags is leveraged later during thelifecycle of the plant since a laser scanning process (or other suitableimaging process) can utilize the RFID tag information during subsequentinventory, service, upgrade, or other processes implemented during thelife of the plant or building. For example, during an inspection, as theimaging tool images each asset, the RFID tag reader detects the RFID tag230 associated with the respective asset and extract RFID data stored inthe RFID tag 230, which can then be correlated with the images producedby the imaging tool.

According to an embodiment of the invention, central processor 210automatically associates the RFID data with the imaging data acquired bythe imaging tool without the intervention of an operator. According toanother embodiment of the invention, the data integration process isperformed semi-automatically. Merely by way of example, the hand-helddevice 101 may prompt an operator when one or more RFID tags aredetected in a target area. The operator may select one of the one ormore detected RFID tags as the RFID tag associated with a particularasset in the target area. The integrated RFID data and imaging data maybe stored in a memory, which may be used later for asset managementduring the lifecycle of the plant.

FIG. 3 is a simplified graphical user interface illustrating display ofa visual representation of imaging data along with asset informationaccording to an embodiment of the present invention. The graphical userinterface (GUI) 300 includes a plurality of regions or display tilessuitable for display (i.e., output) and/or entry (i.e., input) of dataassociated with the RFID-assisted imaging system and the assets beingimaged and detected.

As an example of the use of the RFID-assisted imaging system, the GUI300 is illustrated in the context of collection of integrated RFID dataand imaging data for use in locating assets. Referring to FIG. 3, theGUI includes a first region 310 where an operator views a list of assetsin the GUI. In FIG. 3, this first region is labeled as an Asset Listarea. The first region 310 can provide a functionality of not onlydisplaying a list of the various assets, but may enable an operator toselect a link associated with a particular asset, for example, using atouch screen, a cursor/trackpad, a keyboard, or other suitable inputdevice. In response to the selection, a pop-up window may appear in asecond region 320 of the GUI in order to show an image of the plant withthe selected asset in the foreground. In FIG. 3, this pop-up window isillustrated as an Asset Detail Display area. In other embodiments,assets located during a scan can be automatically displayed in the AssetDetail Display area.

The GUI can also include a plant view region 330, which is used todisplay an image of the plant on the display. The image can be formedusing images obtained using the imaging apparatus of the RFID-assistedimaging system, from a database either local or remote, combinationsthereof, or the like. Thus, a plant equipment database could provideinputs for displaying a 2D or 3D view of the area of interest. As anexample, information obtained using the RFID tags could be overlaid onthe optical image shown on the display, with highlighting, images of theassets obtained using the system, images provided by the manufacturer,icons, asset identification numbers, asset descriptions, or the like. Inan embodiment, the plant view region 330 is able to receive both inputand display output, enabling an operator to select an object in theimage of the plant. In response to selecting an object, the plant viewregion may display additional information including additional images ofthe object. Alternatively, the second region 320 of the GUI can be usedto display additional information related to the object/asset, links toadditional information related to the object, reference informationabout the selected asset, or the like. Such information may be used forrepairing, replacing, or planning maintenance for the selected asset.The data related to the assets can be provided from a plurality ofsources as will be evident to one of skill in the art. The userinterface can be separated from the RFID-assisted imaging system, forexample, on a computer in communication with the RFID-assisted imagingsystem, either in real time or by post-processing.

According to yet another embodiment of the invention, an image of theplant may be displayed along with a list of assets shown in the image.An operator may select a particular asset in the list. In response tothe selection, a pop-up window may appear showing reference informationabout the selected asset. It should also be appreciated that the presentinvention is not limited to these particular embodiments. As illustratedin FIG. 3, an optional keyboard/input region 340 is provided in someembodiments to enable a system operator to provide inputs to the system.The arrangement of the various windows can be modified depending on theparticular applications. One of ordinary skill in the art wouldrecognize many variations, modifications, and alternatives.

According to another embodiment of the invention, the integrated RFIDdata and imaging data may be used for creating three-dimensional CADmodels for a facility. While point clouds can be directly rendered andinspected, point clouds themselves are generally not directly usable inmost three-dimensional applications, and therefore are often convertedto CAD models that include parametric data for each part. For example,for the purpose of retrofitting or revamping the plant 270 illustratedin FIG. 2B, it may be desirable to convert point clouds of the plantinto three-dimensional CAD models so that new parts may be designed tofit the existing parts. According to an embodiment of the invention,central processor 207 may use the RFID data to automatically orsemi-automatically create three-dimensional CAD models of the plant 270,providing benefits not available when a mere 3D point cloud isavailable. CAD models provided by embodiments of the present inventionare “intelligent” in the sense that, instead of merely representing theshape of an item, it contains parametric data about the item. Forexample, a CAD model of pipe 282 may include the outer and innerdiameters of pipe 282. When pipe 282 needs to be retrofitted orreplaced, a new pipe may be designed accurately based on the CAD modelsuch that it will fit the other existing parts and will not causeinterferences. According to an embodiment, CAD models may be overlaidwith the corresponding point clouds in a display to assist a designer indesigning replacement parts. Because data regarding various assets isincluded in the RFID tag, data provided by the RFID tag can be combinedwith imaging data of the asset can be leveraged to extend the pointcloud to a CAD model.

According to an embodiment of the invention, an RFID tag may be imbeddedin or associated with an optical marker and the information stored inthe RFID tag may be used for identifying the optical marker.Three-dimensional imaging devices often use optical markers as referencepoints for alignment or registration in a three-dimensional pipelineprocess. An optical marker may be in the form of a marker ball, a pieceof marker paper, a prism, a retro-reflector, permanent benchmarks, orother suitable optical element that is visible, in some embodiments,from at least two perspectives. Images taken from these two perspectivescan then be used in conjunction with the optical markers to generate a3D point cloud. An optical marker may also be an intrinsic referencepoint on an object, such as a sharp edge or a corner. Additionaldescription related to co-location of RFID tags and optical markers andreferencing of these elements to each other is provided in U.S. patentapplication Ser. Nos. 13/225,003 and 13/225,014, both filed on Sep. 2,2011, the disclosures of which are hereby incorporated by reference intheir entirety. Merely by way of example, the RFID tag can includereference information embedded in the RFID tag. As an example, suchreference information could include “offset” information related to twoor more locations or points. For example, the RFID tag could includeinformation about the offset from the RFID tag to the optical marker. Insome embodiments, the RFID tag can include reference information on morethan one offset as appropriate to the particular application.

Alternatively, the offset embedded in the RFID tag could be the offsetto another target of interest, which can act as a type of guide post oraid to finding the next position of interest. In this embodiment, theoffset may direct the operator to the general area of an object usingthe reference information stored in the RFID tag, thereby serving as anaid in locating the subsequent position that is analyzed. One ofordinary skill in the art would recognize many variations,modifications, and alternatives.

Currently, optical markers are identified manually and information isthen input into a software package for processing the scans to form apoint cloud. According to an embodiment of the present invention,RFID-assisted imaging system 100 identifies an optical markerautomatically based on the information stored in the embedded RFID tag.In cases where a site is scanned periodically, permanent markersembedded with or associated with RFID tags may be placed in specificlocations on the site. Information stored in each RFID tag may specifythe location of the respective permanent marker. In some embodimentsutilizing one or more permanent markers in which scans happenperiodically, the permanent optical marker can co-located with orassociated with an RFID tag that includes information including theprecise building location of the particular permanent marker, therebyfacilitating the process of reassembling the images from the variousperspectives to form the 3D point cloud.

According to another embodiment of the invention, RFID-assisted imagingsystem 100 may be used for multimodal location estimation. Commonlyassigned U.S. patent application Ser. No. 13/225,003, filed on Sep. 2,2011 describes a method of using an RFID tag reader to estimate thedistance of an object and is hereby incorporated by reference in itsentirety for all purposes. Most RFID tag readers can determine thedistance from an RFID tag to their antennas rather accurately. However,RFID tag readers usually cannot determine angles of view with respect totheir antennas with sufficient accuracy. On the other hand, imagingtools can determine angles of view with respect to their lensesaccurately. Thus, by combining an RFID tag reader with an imaging tool,the location of an object may be accurately estimated. According to anembodiment, a unique identification of an object may be achieved basedon the estimated location.

According to an embodiment of the invention, RFID-assisted imagingsystem 100 may achieve accurate identification of optical markers byusing multimodal location estimation. According to an embodiment, thedistance between an RFID-enhanced optical marker and an RFID tag readermay be estimated by utilizing phase information inherent in an RFID tagread and by reading at multiple frequencies. Meanwhile, the angle ofview of the optical marker with respect to the imaging tool may beestimated by the imaging tool. Thus, the location of the optical markermay be determined with a predetermined accuracy. By advantageouslyplacing various optical markers at different distances from the imagingtool and the RFID tag reader, each optical marker may be uniquelyidentified.

FIG. 4 is a simplified flowchart illustrating a method of performingRFID-assisted imaging according to an embodiment of the invention. Themethod 400 includes acquiring imaging data of an object using an imagingtool (410) and detecting an RFID tag associated with the object using anRFID reader (420). In an embodiment, the tool and the RFID reader areintegrated in a single product that includes, for example, a camera andthe RFID reader. Thus, in some embodiments, the RFID reader isco-located with the imaging tool. In some implementations, the imagingtool has a first field of view and the RFID reader has a second field ofview that at least partially overlaps with the first field of view. Inother embodiments, the field of views are the same. The method alsoincludes extracting RFID data stored in the RFID tag (430) andassociating the RFID data with the imaging data (440). The methodfurther includes storing the RFID data as metadata along with theimaging data (450).

According to an embodiment, the method 400 further includes retrievingthe RFID data in relation to the imaging data. According to embodimentsof the invention, the method further includes varying the second fieldof view of the RFID reader, thereby facilitating a unique identificationof the object. The second field of view of the RFID reader may be variedstatically or dynamically. According to an embodiment, the imaging tooland the RFID reader reside in a hand-held device.

According to an embodiment, the RFID tag is embedded in an opticalmarker and the RFID data stored in the RFID tag includes anidentification of the optical marker. In other embodiments, the RFID tagcan be located at a predetermined distance from the optical marker. Inthese embodiments, the RFID tag can include data related to the distanceand direction between the RFID tag and the optical marker. As an exampleof device operation, the imaging data can include two or more images ofan object acquired from at least two different perspectives. Each of thetwo or more images would include the optical marker, enabling acorrelation between the images to be performed. According to anembodiment, the method additionally includes identifying the opticalmarker using the RFID data, and creating a three-dimensional point cloudof the object from the two or more images using the optical marker as areference point.

It should be appreciated that the specific steps illustrated in FIG. 4provide a method of performing RFID-assisted imaging according to anembodiment of the invention. Other sequences of steps may also beperformed according to alternative embodiments. For example, alternativeembodiments of the present invention may perform the steps outlinedabove in a different order. Moreover, the individual steps illustratedin FIG. 4 may include multiple sub-steps that may be performed invarious sequences as appropriate to the individual step. Furthermore,additional steps may be added or removed depending on the particularapplications. One of ordinary skill in the art would recognize manyvariations, modifications, and alternatives.

FIG. 5 is a simplified flowchart illustrating a method of collectinginformation according to an embodiment of the invention. The method 500includes acquiring imaging data of a plurality of objects using animaging tool (510). As an example, the plurality of objects can beassets in a factory, production facility, warehouse, or the like. Themethod also includes performing an iterative process for each object ofat least a subset of the plurality of objects (520). For each object,the method includes detecting an RFID tag associated with the respectiveobject (530) and extracting RFID data stored in the RFID tag (540).

The method further includes identifying the respective object from theimaging data using the RFID data (550), and creating a point cloud forthe respective object from the imaging data based on the identification(560). The method additionally includes associating the RFID data withthe point cloud (570) and storing the RFID data as metadata along withthe point cloud (580). The method 500 then loops back (590) to process520 in order to perform the iterative process for the next object of thesubset of the plurality of objects.

According to an embodiment, the method includes receiving a search queryrelated to a first object from the plurality of objects and identifyinga matching point cloud from the stored point clouds using the storedRFID data. The method can include displaying a visual representation ofthe matching point cloud.

According to another embodiment, the method includes displaying a visualrepresentation of one or more stored point clouds and identifying one ormore objects corresponding to the one or more point clouds using thestored RFID data. In some implementations, the method can includedisplaying a list of the one or more identified objects along with thevisual representation. The GUI illustrated in FIG. 3 can be utilized todisplay this information including the list of the one or moreidentified objects and the visual representation.

According to an embodiment, the method further includes receiving a userselection of one of the one or more identified objects in the list and,in response to receiving the user selection, retrieving the RFID dataassociated with the selected object and displaying at least a portion ofthe retrieved RFID data.

Utilizing embodiments of the present invention, the RFID data associatedwith the respective object includes an identification of the respectiveobject, which can include a part number, serial number, manufacturingdate, installation date, performance parameters, maintenance history, ageo-location of the object, or the like. The stored point clouds and thestored RFID data can be linked in a database, providing asset-basedinformation that can be made available to an operator. The database canincludes reference information related to each object of the subset ofthe plurality of objects. The reference information can be retrievablebased on the identification of each object.

According to another embodiment, the RFID data includes referenceinformation relevant to a stored CAD model (e.g., data related to aportion of a CAD model or an complete CAD model) of the respectiveobject. In some embodiments, the method includes displaying a visualrepresentation of one of more point clouds associated with one or moreobjects of the plurality of objects and storing reference informationrelevant to a stored CAD model. In an optional embodiment, the methodcan include retrieving one or more CAD models corresponding to the oneor more objects and overlaying the one or more CAD models on thedisplayed visual representation of the one or more point clouds.

It should be appreciated that the specific steps illustrated in FIG. 5provide a particular method of collecting information according to anembodiment of the present invention. Other sequences of steps may alsobe performed according to alternative embodiments. For example,alternative embodiments of the present invention may perform the stepsoutlined above in a different order. Moreover, the individual stepsillustrated in FIG. 5 may include multiple sub-steps that may beperformed in various sequences as appropriate to the individual step.Furthermore, additional steps may be added or removed depending on theparticular applications. One of ordinary skill in the art wouldrecognize many variations, modifications, and alternatives.

In another embodiment of the present invention, a method of constructinga 3D point cloud is provided. The method includes obtaining a firstimage including at least a scene (e.g., a facility including a number ofassets) from a first perspective. The first image includes an opticalmarker (e.g., a reference point). The method also includes receivingRFID data from an RFID tag associated with the optical marker andidentifying a physical location associated with the optical marker usingthe RFID data. In an embodiment, each of the plurality of assets areassociated with an RFID tag including information related each of theplurality of assets. As an example, equipment in a plant can have anRFID tag associated with the particular piece of equipment.Alternatively, a single RFID tag could be associated with a systemincluding multiple assets, thereby providing information on componentsof the system with which the RFID tag is associated.

The method further includes obtaining a second image including at leastthe scene from a second perspective. The second image includes theoptical marker. Additionally, the method includes constructing the 3Dpoint cloud using the first image and the second image. Obtaining thefirst image and the second image can include the use of an imaging tooland receiving the RFID data can include the use of an RFID tag readerintegrated with imaging tool. In other embodiments, the imaging tool andRFID tag reader are provided separately. The processes of obtainingimages and RFID data can be performed concurrently or sequentially asappropriate to the particular implementation. The optical marker can beco-located with the RFID tag or the optical marker can be located apredetermined distance from the RFID tag, with the RFID tag includinginformation related to the predetermined distance and/or a directionbetween the optical marker and the RFID tag.

In an embodiment, an optical marker is supplemented by using an RFIDtag. As an example, an RFID tag could be used that references an opticalstructure (e.g., an optical marker, an edge of an object, a corner of anobject, or the like). In this example, the RFID tag could be mounted onan object and reference a feature of the object that is useful informing the 3D point cloud, for example, an end of a beam. The twoimages are captured so that the end of the beam is present in bothimages and the RFID data could be used to specify the use of the end ofthe beam in constructing the 3D point cloud. Thus, embodiments of thepresent invention provide accurate positioning using the optical systemsin an information rich environment as a result of the incorporation ofRFID tags and RFID data. Utilizing embodiments of the present invention,the RFID data can include the coordinates of an associated opticalmarker, enabling integration of this coordinate data with the imagingdata.

FIG. 6 is a simplified flowchart illustrating a method of managing RFIDand imaging data according to an embodiment of the present invention.The method 600 includes acquiring imaging data of a plurality of objectsusing an imaging tool (610). As an example, the plurality of objects canbe assets in a factory, production facility, warehouse, or the like. Themethod also includes performing an iterative process for each object(i.e., a respective object) of at least a subset of the plurality ofobjects (620). For each object, the method includes detecting an RFIDtag associated with the respective object and extracting RFID datastored in the RFID tag (630).

The method further includes identifying the respective object from theimaging data using the RFID data (640) and creating a point cloud forthe respective object from the imaging data based on the identification(650). The method additionally includes associating the RFID data withthe point cloud (660) and storing the RFID data as metadata along withthe point cloud (670). The method 600 then loops back (680) to process620 in order to perform the iterative process for the next object of thesubset of the plurality of objects.

It should be appreciated that the specific steps illustrated in FIG. 6provide a particular method of collecting information according to anembodiment of the present invention. Other sequences of steps may alsobe performed according to alternative embodiments. For example,alternative embodiments of the present invention may perform the stepsoutlined above in a different order. Moreover, the individual stepsillustrated in FIG. 6 may include multiple sub-steps that may beperformed in various sequences as appropriate to the individual step.Furthermore, additional steps may be added or removed depending on theparticular applications. One of ordinary skill in the art wouldrecognize many variations, modifications, and alternatives.

FIG. 7 is a simplified flowchart illustrating a method of collectinginformation according to another embodiment of the invention. The method700 includes acquiring imaging data of a plurality of objects using animaging tool (710). As an example, the plurality of objects can beassets in a factory, production facility, warehouse, or the like. Themethod also includes performing an iterative process for each object ofat least a subset of the plurality of objects (720). For each object,the method includes extracting RFID data stored in the RFID tag (730).

The method further includes identifying the respective object from theimaging data using the RFID data (740), and associating the RFID datawith the imaging data (750). The method 700 then loops back (760) toprocess 720 in order to perform the iterative process for the nextobject of the subset of the plurality of objects.

According to another embodiment, the method includes creating a pointcloud and displaying a visual representation of the point cloud, whichmay be stored and identifying one or more objects corresponding to thepoint cloud using the RFID data. In some implementations, the method caninclude displaying a list of the one or more identified objects alongwith the visual representation. The GUI illustrated in FIG. 3 can beutilized to display this information including the list of the one ormore identified objects and the visual representation.

Utilizing embodiments of the present invention, the RFID data associatedwith the respective object includes an identification of the respectiveobject, which can include a part number, serial number, manufacturingdate, installation date, performance parameters, maintenance history, ageo-location of the object, or the like. The stored point clouds and thestored RFID data can be linked in a database, providing asset-basedinformation that can be made available to an operator. The database canincludes reference information related to each object of the subset ofthe plurality of objects. The reference information can be retrievablebased on the identification of each object.

It should be appreciated that the specific steps illustrated in FIG. 7provide a particular method of collecting information according to anembodiment of the present invention. Other sequences of steps may alsobe performed according to alternative embodiments. For example,alternative embodiments of the present invention may perform the stepsoutlined above in a different order. Moreover, the individual stepsillustrated in FIG. 5 may include multiple sub-steps that may beperformed in various sequences as appropriate to the individual step.Furthermore, additional steps may be added or removed depending on theparticular applications. One of ordinary skill in the art wouldrecognize many variations, modifications, and alternatives.

While certain exemplary embodiments have been described and shown in theaccompanying drawings, it is to be understood that such embodiments aremerely illustrative of and not restrictive on the broad invention, andthat this invention not be limited to the specific constructions andarrangements shown and described, since various other modifications mayoccur to those ordinarily skilled in the art. Trademarks and copyrightsreferred to herein are the property of their respective owners. Thescope of the invention should, therefore, be determined with referenceto the appended claims along with their full scope of equivalents.

What is claimed is:
 1. A method of collecting information comprising:acquiring imaging data of a plurality of objects using an imaging tool;creating a three-dimensional representation of the plurality of objectsbased on the imaging data; and extracting RFID data stored in an RFIDtag using an RFID reader, wherein: the RFID data comprises, or comprisesa reference to, a three-dimensional model; the three-dimensional modelis created before acquiring the imaging data of the plurality ofobjects; and the three-dimensional model is a representation of at leastone object of the plurality of objects.
 2. The method of claim 1 furthercomprising comparing the three-dimensional representation of theplurality of objects to the three-dimensional model.
 3. The method ofclaim 2 further comprising computing differences between thethree-dimensional representation and the three-dimensional model.
 4. Themethod of claim 3 further comprising generating a visualization of thedifferences between the three-dimensional representation and thethree-dimensional model.
 5. The method of claim 1 wherein the imagingtool and the RFID reader are mounted on a vehicle.
 6. The method ofclaim 5 wherein the vehicle is a rail trolley.
 7. The method of claim 1wherein the RFID tag is attached to the at least one object of theplurality of objects.
 8. The method of claim 1 wherein the imaging toolis part of a mobile device.
 9. The method of claim 8 wherein the mobiledevice is a hand-held device.
 10. The method of claim 1 wherein theimaging tool and the RFID reader are incorporated into a single deviceand that the single device is configured to be operated by a person. 11.The method of claim 1 wherein the imaging tool or the RFID reader, orboth the imaging tool and the RFID reader, are incorporated into adevice, which is operable to interact with a remote system.
 12. A systemcomprising: an imaging tool operable to acquire imaging data of aplurality of objects, wherein the imaging data is processed to create athree-dimensional representation of the plurality of objects; and athree-dimensional model of at least one object of the plurality ofobjects, wherein the three-dimensional model is created before thethree-dimensional representation of the plurality of objects; and anRFID reader operable to extract RFID data stored in an RFID tag, whereinthe RFID data comprises, or comprises a reference to, thethree-dimensional model.
 13. The system of claim 12 further comprising acentral processor configured to: compare the three-dimensionalrepresentation of the plurality of objects to the three-dimensionalmodel; compute differences between the three-dimensional representationand the three-dimensional model; and generate a visualization of thedifferences between the three-dimensional representation and thethree-dimensional model.
 14. The system of claim 12 further comprising avehicle, wherein the imaging tool or the RFID reader, or both theimaging tool and the RFID reader, are mounted on the vehicle.
 15. Thesystem of claim 14 wherein the vehicle is a rail trolley.
 16. The systemof claim 12 wherein the RFID tag is not attached to the at least oneobject of the plurality of objects.
 17. The system of claim 12 furthercomprising a mobile device, wherein the imaging tool and the RFID readerare part of the mobile device.
 18. The system of claim 12 furthercomprising a device, wherein: the imaging tool and the RFID reader areincorporated into the device; and the device is operable to interactwith a remote system.
 19. The system of claim 12 wherein the imagingtool comprises a laser scanner using a time-of-flight laser rangefinder.20. The system of claim 12 wherein the three-dimensional model comprisesadditional information about the at least one object of the plurality ofobjects that the three-dimensional representation does not.